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10 C(s)

R(s) + + s(s+1)
− −

C
R + G1 + G2
− −

H1

H2

1 Y (s)
R + (s+1)
−

1 +
(s+1) −

1
5

R(s) + 1/S + 2S
− −

c1

a b1

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